Both sides struggled to create any real good chances throughout the game but the Lions drew their 16th game of the season with a big George Evans header past Simon Sluga inside the last minute of the the game.
This draw meant the Hatters have only won two of their last 10 matches in all competitions.
Story of the match
Nathan Jones made five changes to his Luton side that lost 3-0 to Stoke City on Saturday afternoon. Their opponents, who are unbeaten in their last seven games, made two changes with Jon Bodvarsson and Tom Bradshaw coming into the starting XI for Mason Bennett and striker Matt Smith.
In the 15th minute, Tom Ince drew a foul on the edge of the Lions 18-yard box. Kieran Dewsbury-Hall attempted to curl the ball into the goalkeeper's bottom corner but it struck the wall just in front of the goal.
The best chance of the first half came to Millwall in the 26th minute. A brilliant ball played behind the Luton defence found Bradshaw through on goal however, the striker's heavy touch allowed Sluga to sprint out and claim the ball.
Apart from that chance midway through the first half, neither side created any real chances to test the two goalkeepers. Both sides found themselves struggling to create anything going forward.
The second half started much better than the first. Five minutes into the second half, Tom Ince nearly put his side ahead with a curling effort that forced Bialkowski into a beautiful save.
Nonetheless, Elijah Adebayo opened the scoring two minutes later. Ryan Tunnicliffe delivered a brilliant cross into the box for Ince to knock the ball on for Adebayo who passes the ball underneath the Millwall 'keeper to put his side ahead.
Disappointingly, the remainder of the second half was exactly like the first 45 minutes. However, Millwall centre-back, George Evans rose highest to a Matt Smith's cross to break Luton hearts.
Luton Town lacking opportunities
Despite sitting in 13th place in the Championship, Luton have only scored 24 goals this season in the league. This is tied fourth for the lowest amount of chances scored.
Just like many of their previous games, the hosts scored only once through the 90 minutes. Out of Luton's 10 victories in the league, nine were decided by a one goal difference. The lack of chances converted to goals can be costly to the Hatters as they look to push further away from the relegation zone.
For the majority of the game, both sides struggled to truly test the 'keepers and get ahead. As a result, chances were forced rather than created. The Hatters will need to start finding their shooting boots if they hope to push up the table.
Man of the match
The man of the match for the London derby is Elijah Adebayo. Completing 84 minutes, the 23-year-old created the most chances for the hosts and scored the goal to put Luton ahead with a smart finish.